CN114485610A - Vector map construction method and device and path planning method and device - Google Patents
Vector map construction method and device and path planning method and device Download PDFInfo
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Abstract
The application provides a vector map construction method and device and a path planning method and device, and relates to the technical field of map construction. The vector map construction method comprises the following steps: determining M groups of road boundary lines corresponding to the target farmland area based on crop position information corresponding to the target farmland area; determining road center lines corresponding to the M groups of road boundary lines based on the M groups of road boundary lines; and constructing a vector map corresponding to the target farmland area based on the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines. The method and the device solve the problem that the vector map cannot be constructed in the target farmland region due to the fact that no lane line exists, and provide a precondition for providing a global path for farmland operation equipment. In addition, the method and the device do not need a user to draw a path, and further improve the operation efficiency.
Description
Technical Field
The application relates to the technical field of map construction, in particular to a vector map construction method and device and a path planning method and device.
Background
The existing vector map mainly aims at urban scenes, and specifically, the vector map is constructed based on marked lines of urban roads. However, in an agricultural scene, there are many difficulties in constructing a vector map, for example, there is no corresponding lane line or stop line in the agricultural scene, so that a driving road cannot be generated. In addition, the diversity of the steering modes of the farmland operation equipment also increases the difficulty in constructing the vector map.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a vector map construction method and device and a path planning method and device.
In a first aspect, an embodiment of the present application provides a vector map construction method, including: determining M groups of road boundary lines corresponding to the target farmland area based on crop position information corresponding to the target farmland area, wherein each group of road boundary lines is used for generating roads for farmland operation equipment to run, and M is a positive integer; determining road center lines corresponding to the M groups of road boundary lines based on the M groups of road boundary lines; and constructing a vector map corresponding to the target farmland area based on the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines.
With reference to the first aspect, in some implementations of the first aspect, constructing a vector map corresponding to the target farmland area based on road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines, includes: determining N steering areas based on the cross relationship among M roads corresponding to M groups of road boundary lines, wherein N is a positive integer; determining at least one steering center line corresponding to the steering area aiming at each steering area in the N steering areas; and constructing a vector map corresponding to the target farmland area based on the M groups of road boundary lines, the road center lines corresponding to the M groups of road boundary lines and the steering center lines corresponding to the N steering areas.
With reference to the first aspect, in certain implementations of the first aspect, the determining at least one steering centerline corresponding to the steering zone includes: determining a first Ackerman steering connection point based on the intersection point of the road center line corresponding to the first group of road boundary lines and the steering area; determining a second Ackerman steering connection point based on the intersection point of the road center line corresponding to the second group of road boundary lines and the steering area; and determining a steering central line corresponding to the steering area based on the first ackermann steering connection point, the second ackermann steering connection point, and the road width corresponding to the first group of road boundary lines or the road width corresponding to the second group of road boundary lines.
With reference to the first aspect, in certain implementations of the first aspect, determining a steering centerline corresponding to a steering region based on the first ackermann steering junction, the second ackermann steering junction, and a road width corresponding to the first set of road boundary lines or a road width corresponding to the second set of road boundary lines includes: determining a steering radius corresponding to a steering area based on the road width corresponding to the first group of road boundary lines or the road width corresponding to the second group of road boundary lines; and determining a steering central line corresponding to the steering area based on the first ackermann steering connecting point, the second ackermann steering connecting point and the steering radius.
With reference to the first aspect, in certain implementations of the first aspect, the determining at least one steering centerline corresponding to the steering zone includes: determining an in-situ steering connection point based on the intersection point of the road center line corresponding to the first group of road boundary lines and the road center line corresponding to the second group of road boundary lines; and determining a steering central line corresponding to the steering area based on the pivot steering connecting point.
With reference to the first aspect, in certain implementations of the first aspect, the determining the M groups of road boundary lines corresponding to the target farmland area based on the crop position information corresponding to the target farmland area includes: determining N groups of operation road boundary lines based on the crop position information; and determining P groups of non-operation road boundary lines based on the boundary information corresponding to the target farmland area and/or preset boundary information.
With reference to the first aspect, in some implementations of the first aspect, constructing a vector map corresponding to the target farmland area based on road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines, includes: determining road configuration road attribute information corresponding to the M groups of road boundary lines, wherein the road attribute information comprises occupation attribute information and/or speed limit attribute information; and constructing a vector map corresponding to the target farmland area based on the road attribute information, the M groups of road boundary lines and the road center lines corresponding to the M groups of road boundary lines.
In a second aspect, an embodiment of the present application provides a path planning method, where the path planning method includes: determining a vector map corresponding to the target farmland area, wherein the vector map is determined based on the vector map construction method mentioned in the first aspect; and determining path planning information corresponding to the farmland operation equipment based on the vector map.
In a third aspect, an embodiment of the present application provides a vector map construction apparatus, including: the first determining module is used for determining M groups of road boundary lines corresponding to the target farmland area based on crop position information corresponding to the target farmland area, wherein each group of road boundary lines is used for generating roads for farmland operation equipment to run, and M is a positive integer; the second determining module is used for determining road center lines corresponding to the M groups of road boundary lines based on the M groups of road boundary lines; and the building module is used for building a vector map corresponding to the target farmland area based on the M groups of road boundary lines and the road center lines corresponding to the M groups of road boundary lines.
In a fourth aspect, an embodiment of the present application provides a path planning apparatus, including: a map determination module, configured to determine a vector map corresponding to the target farmland area, where the vector map is determined based on the vector map construction method mentioned in the first aspect; and the path determining module is used for determining path planning information corresponding to the farmland operation equipment based on the vector map.
In a fifth aspect, an embodiment of the present application provides an agricultural operation apparatus, which includes the path planning device mentioned in the fourth aspect.
In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program for executing the method of the first aspect and/or the second aspect.
In a seventh aspect, an embodiment of the present application provides an electronic device, including: a processor; a memory for storing processor-executable instructions; the processor is configured to perform the method of the first aspect and/or the second aspect.
According to the vector map construction method, M groups of road boundary lines corresponding to the target farmland area are obtained in a mode of crop position information corresponding to the target farmland area, and the problem that the vector map cannot be constructed due to the fact that no lane line exists in the target farmland area is solved. Specifically, each group of road boundary lines limits the farmland operation equipment to run in the road, so that the farmland operation equipment is prevented from colliding with obstacles beyond the road boundary lines, and the defect that the sensors cannot provide reliable path guidance is overcome. In addition, road center lines corresponding to the M groups of road boundary lines are obtained on the basis of the M groups of road boundary lines, and the road center lines provide global paths for farmland operation equipment; the vector map corresponding to the target farmland area is constructed on the basis of the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines, so that accurate path planning information is provided for farmland operation equipment, a user is not required to draw a path, and the operation efficiency is improved.
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The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic flowchart illustrating a vector map construction method according to an exemplary embodiment of the present application.
Fig. 2 is a schematic diagram of a vector map provided in an exemplary embodiment of the present application.
Fig. 3 is a schematic flow chart illustrating a process of constructing a vector map corresponding to a target farmland area based on road center lines corresponding to M groups of road boundary lines and M groups of road boundary lines according to an exemplary embodiment of the present application.
Fig. 4 is a schematic diagram illustrating a steering centerline corresponding to a steering region determined based on an ackermann steering manner according to an exemplary embodiment of the present application.
Fig. 5 is a schematic flow chart illustrating a process of determining at least one steering centerline corresponding to a steering region according to an exemplary embodiment of the present application.
Fig. 6 is a schematic flow chart illustrating a process of determining a steering centerline corresponding to a steering region according to an exemplary embodiment of the present application.
Fig. 7 is a schematic diagram illustrating a steering centerline corresponding to a steering region determined based on an in-place steering manner according to an exemplary embodiment of the present application.
Fig. 8 is a schematic flow chart illustrating a process for determining at least one steering centerline corresponding to a steering region according to another exemplary embodiment of the present application.
Fig. 9 is a schematic flow chart illustrating a process of determining M sets of road boundary lines corresponding to a target farmland area based on crop position information corresponding to the target farmland area according to an exemplary embodiment of the present application.
Fig. 10 is a schematic flow chart illustrating a process of constructing a vector map corresponding to a target farmland area based on road center lines corresponding to M groups of road boundary lines and M groups of road boundary lines according to another exemplary embodiment of the present application.
Fig. 11 is a flowchart illustrating a path planning method according to an exemplary embodiment of the present application.
Fig. 12 is a schematic structural diagram of a vector map construction apparatus according to an exemplary embodiment of the present application.
Fig. 13 is a schematic structural diagram of a path planning apparatus according to an exemplary embodiment of the present application.
Fig. 14 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The vector map is generally composed of point, line and surface elements, and is obtained by giving semantic information to the point, line and surface elements. The existing vector map mainly aims at urban scenes, and specifically, the vector map is constructed based on marked lines (such as lane lines, stop lines or pedestrian lane lines) of urban roads. Since each marking line is accurately marked, the unmanned vehicle can be guided to conduct behaviors such as lane changing and the like based on the current traffic condition.
However, in an agricultural scene, the field work equipment (unmanned) also needs to perform navigation work to travel to a position corresponding to the target crop in the vector map. However, in a target farmland area (particularly, an orchard), there is no corresponding lane line or stop line, and therefore a vector map cannot be constructed. In addition, the steering mode of the farmland operation equipment is different from that of automobiles on urban roads, the steering mode of the automobiles is generally Ackermann steering, and the farmland operation equipment can also be differential steering without steering radius, so that the vector map needs to adapt to diversified farmland operation equipment, and the difficulty in constructing the vector map is undoubtedly increased. Moreover, the space of the farmland area is limited, and how to avoid the blockage and/or collision of a plurality of farmland operation devices also increases a lot of difficulties for constructing the vector map.
Fig. 1 is a schematic flowchart illustrating a vector map construction method according to an exemplary embodiment of the present application. As shown in fig. 1, a vector map construction method provided in an embodiment of the present application includes the following steps.
And step 10, determining M groups of road boundary lines corresponding to the target farmland area based on the crop position information corresponding to the target farmland area.
In an embodiment of the application, the target farmland area can be an orchard, the crops can be fruit trees, and the farmland operation equipment can be unmanned vehicles or robots. Illustratively, based on the position information of the fruit trees, M groups of road boundary lines corresponding to the orchard are determined so as to generate roads for the farmland operation equipment to run.
It is understood that each set of road boundary lines is used to generate a road (also called a section of road) for the farmland operation equipment to travel, and M is a positive integer. For example, each set of road boundary lines includes a first roadside boundary line and a second road boundary line parallel to the traveling direction of the farm work equipment, and the first roadside boundary line and the second road boundary line can be regarded as a left side road boundary line and a right side road boundary line, respectively, based on the traveling direction.
And step 20, determining road center lines corresponding to the M groups of road boundary lines based on the M groups of road boundary lines.
In an embodiment of the present application, for each group of road boundary lines among the M groups of road boundary lines, a road center line corresponding to each group of road boundary lines is determined based on a symmetric center line corresponding to each group of road boundary lines.
Illustratively, each set of road boundary lines includes two road boundary lines, and the road center line is a symmetric center line of the two road boundary lines, i.e. the distance between the road center line and the two road boundary lines is equal. The road center line is used for determining path planning information corresponding to the farmland operation equipment, so that the farmland operation equipment runs along the road center line.
And step 30, constructing a vector map corresponding to the target farmland area based on the M groups of road boundary lines and the road center lines corresponding to the M groups of road boundary lines.
In an embodiment of the application, the vector map corresponding to the target farmland area has semantic information, so that crops, M groups of road boundary lines and road center lines corresponding to the M groups of road boundary lines can be quickly and accurately positioned, and a precondition is provided for planning an accurate operation path for farmland operation equipment.
In the practical application process, firstly, M groups of road boundary lines corresponding to the target farmland area are determined based on crop position information corresponding to the target farmland area, then, road center lines corresponding to the M groups of road boundary lines are determined based on the M groups of road boundary lines, and then, a vector map corresponding to the target farmland area is constructed based on the M groups of road boundary lines and the road center lines corresponding to the M groups of road boundary lines.
The vector map construction method provided by the embodiment of the application obtains M groups of road boundary lines corresponding to the target farmland area based on the crop position information corresponding to the target farmland area, and solves the problem that the vector map cannot be constructed in the target farmland area due to the fact that no lane line exists. In addition, each group of road boundary lines limits the farmland operation equipment to run in the road, so that crops and/or obstacles which collide with the boundary lines of the road are avoided, and the defect that a sensor cannot provide reliable path guidance is overcome. Furthermore, the embodiment of the application obtains the road center lines corresponding to the M groups of road boundary lines based on the M groups of road boundary lines, and provides a precondition for providing a global path for the farmland operation equipment. Therefore, the vector map corresponding to the target farmland area is constructed on the basis of the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines, and therefore preconditions are provided for the farmland operation equipment to plan the accurate operation path. In addition, the path drawing method and the path drawing device do not need a user to draw the path, and therefore work efficiency is improved.
Fig. 2 is a schematic diagram of a vector map provided in an exemplary embodiment of the present application. Specifically, the vector map provided by the embodiment of the present application is obtained based on the vector map construction method provided by the embodiment shown in fig. 1.
As shown in fig. 2, the vector map includes a plurality of sets of road boundary lines, which may be specifically considered as four sets. Each set of road boundary lines may be considered to form a road. Each group of road boundary lines are provided with two corresponding road boundary lines 1 and a road center line 2. In addition, fig. 2 also shows two rows of crops 3, working roads 4, turning areas 5 and non-working roads 6 arranged at equal intervals. It can be understood that, in fig. 2, three parallel working roads 4 and one non-working road 6 perpendicular to the working roads are included, and the non-working road 6 has an overlapping area with each working road 4, which is the turning area 5. Illustratively, the road center line 2 is a symmetrical center line of each set of road boundary lines 1, and the non-working road 6 includes a plurality of turning regions 5.
In an embodiment of the present application, the road boundary line 1 corresponding to the working road 4 is determined based on the position information of the agricultural products 3. The road boundary line 1 corresponding to the non-working road 6 is determined based on the boundary information corresponding to the target farmland area and/or the preset boundary information.
Fig. 3 is a schematic flow chart illustrating a process of constructing a vector map corresponding to a target farmland area based on road center lines corresponding to M groups of road boundary lines and M groups of road boundary lines according to an exemplary embodiment of the present application. The embodiment shown in fig. 3 of the present application is extended based on the embodiment shown in fig. 1 of the present application, and the differences between the embodiment shown in fig. 3 and the embodiment shown in fig. 1 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 3, in the vector map construction method provided in the embodiment of the present application, the step of constructing the vector map corresponding to the target farmland area based on the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines includes the following steps.
And step 31, determining N steering areas based on the intersection relation among the M roads corresponding to the M groups of road boundary lines.
In an embodiment of the application, N turning areas are determined based on cross overlapping areas (also called overlapping areas) between M roads corresponding to M groups of road boundary lines, and the turning areas are used for providing turning spaces for farmland operation equipment with different turning modes, wherein N is a positive integer.
And step 32, determining at least one steering central line corresponding to the steering area for each steering area in the N steering areas.
In an embodiment of the application, a steering center line corresponding to a steering area is used for providing path planning information for farmland operation equipment in different steering modes. Specifically, the farm work equipment based on the ackerman steering mode performs steering running along a steering center line (arc line) corresponding to a steering area, and the farm work equipment based on the pivot steering mode performs steering running along a steering center line (road center line) corresponding to the steering area.
And step 33, constructing a vector map corresponding to the target farmland area based on the M groups of road boundary lines, the road center lines corresponding to the M groups of road boundary lines and the steering center lines corresponding to the N steering areas.
In an embodiment of the application, the vector map corresponding to the target farmland area is composed of M groups of road boundary lines, road center lines corresponding to the M groups of road boundary lines, and steering center lines corresponding to the N steering areas, so that straight path planning information and steering path planning information are provided for farmland operation equipment.
In the practical application process, firstly, determining N steering areas based on the cross relationship among M roads corresponding to M groups of road boundary lines; then, aiming at each turning area in the N turning areas, determining at least one turning center line corresponding to the turning area; and then constructing a vector map corresponding to the target farmland area based on the M groups of road boundary lines, the road center lines corresponding to the M groups of road boundary lines and the steering center lines corresponding to the N steering areas.
According to the vector map construction method provided by the embodiment of the application, N turning areas are determined through the cross relationship among M roads corresponding to M groups of road boundary lines, so that turning guidance is provided for farmland operation equipment; providing path planning information for farmland operation equipment in different steering modes by determining at least one steering center line corresponding to the steering area; the vector map corresponding to the target farmland area is constructed and obtained on the basis of the M groups of road boundary lines, the road center lines corresponding to the M groups of road boundary lines and the steering center lines corresponding to the N steering areas, so that the straight path planning information and the steering path planning information are provided for the farmland operation equipment.
Fig. 4 is a schematic diagram illustrating a steering centerline corresponding to a steering region determined based on an ackermann steering manner according to an exemplary embodiment of the present application. As shown in fig. 4, the steering zone includes a first ackermann steering attachment point 7 and a second ackermann steering attachment point 8. The following describes a method for determining a steering centerline corresponding to a steering region based on the ackermann steering method in detail with reference to fig. 5.
Fig. 5 is a schematic flowchart illustrating a process of determining at least one steering centerline corresponding to a steering region according to an exemplary embodiment of the present application. The embodiment shown in fig. 5 of the present application is extended on the basis of the embodiment shown in fig. 3 of the present application, and the differences between the embodiment shown in fig. 5 and the embodiment shown in fig. 3 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 5, in the vector map construction method provided in the embodiment of the present application, the steering region corresponds to a first group of road boundary lines and a second group of road boundary lines, and the step of determining at least one steering centerline corresponding to the steering region includes the following steps.
In an embodiment of the present application, as shown in fig. 4, the first set of road boundary lines may be road boundary lines corresponding to non-operation roads. The first ackermann steering connecting point 7 is determined by the intersection point of the road center line corresponding to the first group of road boundary lines and the steering area, and the first ackermann steering connecting point 7 provides first steering guide information for the farmland operating equipment.
In an embodiment of the present application, as shown in fig. 4, the second group of road boundary lines may be road boundary lines corresponding to a working road. The second ackermann steering connecting point 8 is determined by the intersection point of the road center line corresponding to the second group of road boundary lines and the steering area, and the second ackermann steering connecting point 8 provides second steering guidance information for the farmland operation equipment.
In an embodiment of the present application, the steering centerline corresponding to the steering region is an arc, and two end points of the arc, namely the first ackermann steering junction 7 and the second ackermann steering junction 8, determine the curvature radius of the arc based on the road width corresponding to the first set of road boundary lines or the road width corresponding to the second set of road boundary lines. And determining a steering central line corresponding to the steering area based on the two end points and the curvature radius of the arc line, thereby providing steering path planning information for farmland operation equipment based on an Ackerman steering mode.
In the practical application process, a first ackermann steering connection point is determined based on the intersection point of the road center line corresponding to the first group of road boundary lines and the steering area, a second ackermann steering connection point is determined based on the intersection point of the road center line corresponding to the second group of road boundary lines and the steering area, and then a steering center line corresponding to the steering area is determined based on the first ackermann steering connection point, the second ackermann steering connection point, the road width corresponding to the first group of road boundary lines or the road width corresponding to the second group of road boundary lines.
According to the vector map construction method provided by the embodiment of the application, a first Ackerman steering connection point is determined based on the intersection point of the road center line corresponding to the first group of road boundary lines and the steering area, so that first steering guide information is provided for farmland operation equipment; a second Ackerman steering connection point is determined based on the intersection point of the road center line corresponding to the second group of road boundary lines and the steering area, so that second steering guide information is provided for the farmland operation equipment; the steering center line corresponding to the steering area is determined based on the first ackermann steering connection point, the second ackermann steering connection point and the road width corresponding to the first group of road boundary lines or the road width corresponding to the second group of road boundary lines, so that the steering path planning information is provided for the farmland operation equipment based on the ackermann steering mode.
Fig. 6 is a schematic flow chart illustrating a process of determining a steering centerline corresponding to a steering region according to an exemplary embodiment of the present application. The embodiment shown in fig. 6 of the present application is extended based on the embodiment shown in fig. 5 of the present application, and the differences between the embodiment shown in fig. 6 and the embodiment shown in fig. 5 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 6, in the vector map construction method provided in the embodiment of the present application, the step of determining the steering centerline corresponding to the steering area based on the first ackermann steering connection point, the second ackermann steering connection point, and the road width corresponding to the first group of road boundary lines or the road width corresponding to the second group of road boundary lines includes the following steps.
In an embodiment of the application, a steering center line corresponding to the steering area is an arc line corresponding to a quarter circle, and a radius of the arc line (i.e., a steering radius corresponding to the steering area) is determined based on one-half of a road width corresponding to the first group of road boundary lines or one-half of a road width corresponding to the second group of road boundary lines, so that a precondition is provided for determining steering path information for the farm work equipment.
In an embodiment of the application, a steering center line corresponding to a steering area is determined based on the first ackermann steering connection point 7, the second ackermann steering connection point 8 and the steering radius, so that the most appropriate steering path planning information (which may be a steering path comprehensively considering the shortest steering path and avoiding driving beyond the steering area) is provided for the farmland operation equipment based on the ackermann steering mode.
In the practical application process, firstly, the steering radius corresponding to the steering area is determined based on the road width corresponding to the first group of road boundary lines or the road width corresponding to the second group of road boundary lines, and then the steering central line corresponding to the steering area is determined based on the first ackermann steering connecting point, the second ackermann steering connecting point and the steering radius.
According to the vector map construction method provided by the embodiment of the application, the steering radius corresponding to the steering area is determined based on the road width corresponding to the first group of road boundary lines or the road width corresponding to the second group of road boundary lines, so that a precondition is provided for planning steering path information for farmland operation equipment; the steering center line corresponding to the steering area is determined based on the first Ackerman steering connecting point, the second Ackerman steering connecting point and the steering radius, so that the most appropriate steering path planning information is provided for the farmland operating equipment based on the Ackerman steering mode.
Fig. 7 is a schematic diagram illustrating a steering centerline corresponding to a steering region determined based on an in-place steering manner according to an exemplary embodiment of the present application. As shown in fig. 7, the turning area includes pivot turning attachment points 9. The following describes a method for determining a steering centerline corresponding to a steering region based on the pivot steering method in detail with reference to fig. 8.
Fig. 8 is a schematic flow chart illustrating a process for determining at least one steering centerline corresponding to a steering region according to another exemplary embodiment of the present application. The embodiment shown in fig. 8 of the present application is extended based on the embodiment shown in fig. 3 of the present application, and the differences between the embodiment shown in fig. 8 and the embodiment shown in fig. 3 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 8, in the vector map construction method provided in the embodiment of the present application, the steering region corresponds to a first group of road boundary lines and a second group of road boundary lines, and the step of determining at least one steering centerline corresponding to the steering region includes the following steps.
In an embodiment of the present application, referring to fig. 7, the pivot steering connection point 9 is determined by an intersection point of a road centerline corresponding to the first group of road boundary lines and a road centerline corresponding to the second group of road boundary lines, and the pivot steering connection point 9 provides steering guidance information for the farm work equipment.
In an embodiment of the application, a steering center line corresponding to a steering area is determined based on the pivot steering connection point 9 and a road center line corresponding to the steering area, so that steering path planning information is provided for farmland operation equipment based on a pivot steering mode.
In the practical application process, the pivot steering connection point is determined based on the intersection point of the road center line corresponding to the first group of road boundary lines and the road center line corresponding to the second group of road boundary lines, and then the steering center line corresponding to the steering area is determined based on the pivot steering connection point.
According to the vector map construction method provided by the embodiment of the application, the in-situ steering connection point is determined based on the intersection point of the road center line corresponding to the first group of road boundary lines and the road center line corresponding to the second group of road boundary lines, so that steering guidance information is provided for farmland operation equipment; the steering center line corresponding to the steering area is determined based on the pivot steering connection point, so that steering path planning information is provided for farmland operation equipment based on a pivot steering mode.
Fig. 9 is a schematic flow chart illustrating a process of determining M sets of road boundary lines corresponding to a target farmland area based on crop position information corresponding to the target farmland area according to an exemplary embodiment of the present application. The embodiment shown in fig. 9 of the present application is extended based on the embodiment shown in fig. 1 of the present application, and the differences between the embodiment shown in fig. 9 and the embodiment shown in fig. 1 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 9, in the vector map construction method provided in the embodiment of the present application, the step of determining M groups of road boundary lines corresponding to the target farmland area based on the crop position information corresponding to the target farmland area includes the following steps.
And step 11, determining N groups of operation road boundary lines based on the crop position information.
In an embodiment of the present application, as shown in fig. 2, for each of the N sets of working road boundary lines, each set of working road boundary line is a parallel line of straight lines formed by each row of crops, so that a working road corresponding to the farm work equipment is generated.
And step 12, determining P groups of non-operation road boundary lines based on the boundary information corresponding to the target farmland area and/or preset boundary information.
In an embodiment of the present application, as shown in fig. 2, for each of P groups of non-working road boundary lines, each group of non-working road boundary lines corresponds to two non-working road boundary lines, where one non-working road boundary line is determined based on boundary information corresponding to a target farmland area, and the other non-working road boundary line is determined based on preset boundary information, where the preset boundary information may be determined by a user based on a road width corresponding to each group of working road boundary lines, and specifically, another non-working road boundary line that is apart from the one non-working road boundary line by an equal distance as the road width is determined according to the road width corresponding to each group of working road boundary lines, so as to generate a non-working (including turning) road corresponding to a farmland operation device.
In the practical application process, N groups of operation road boundary lines are determined based on crop position information, and then P groups of non-operation road boundary lines are determined based on boundary information corresponding to the target farmland area and/or preset boundary information.
According to the vector map construction method provided by the embodiment of the application, N groups of operation road boundary lines are determined based on the crop position information, so that operation roads corresponding to farmland operation equipment are generated; p groups of non-operation road boundary lines are determined based on boundary information and/or preset boundary information corresponding to the target farmland area, so that a non-operation (including turning) road corresponding to the farmland operation equipment is generated. According to the embodiment of the application, M groups of road boundary lines corresponding to the target farmland area are specifically divided into N groups of operation road boundary lines and P groups of non-operation road boundary lines, so that the efficiency and the accuracy of path information planning for farmland operation equipment are improved.
Fig. 10 is a schematic flow chart illustrating a process of constructing a vector map corresponding to a target farmland area based on road center lines corresponding to M groups of road boundary lines and M groups of road boundary lines according to another exemplary embodiment of the present application. The embodiment shown in fig. 10 of the present application is extended on the basis of the embodiment shown in fig. 1 of the present application, and the differences between the embodiment shown in fig. 10 and the embodiment shown in fig. 1 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 10, in the vector map construction method provided in the embodiment of the present application, the step of constructing the vector map corresponding to the target farmland area based on the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines includes the following steps.
And step 34, determining road configuration road attribute information corresponding to the M groups of road boundary lines, wherein the road attribute information comprises occupation attribute information and/or speed limit attribute information.
In an embodiment of the present application, road attribute information is configured for roads corresponding to M groups of road boundary lines, where the road attribute information includes occupancy attribute information, and the occupancy attribute information may be understood as occupancy determination information. Specifically, if a road is occupied by one farmland operation device, it is determined that the road is currently occupied, and other farmland operation devices cannot drive into the road. If the road is not occupied by any farmland operation equipment, the road is judged to be unoccupied at present, and other farmland operation equipment can drive into the road. In addition, occupation attribute information can be configured for roads corresponding to N groups of operation road boundary lines in the M groups of road boundary lines, and for each group of operation road boundary lines in the N groups of operation road boundary lines, the roads corresponding to each group of operation road boundary lines are ensured to be operated by only one farmland operation device in the same time, so that the blockage and/or collision of a plurality of farmland operation devices are avoided.
It should be noted that, in the embodiment of the present application, roads corresponding to M groups of road boundary lines are configured into a bidirectional single-lane mode, where bidirectional driving is allowed in different time periods for roads corresponding to each group of road boundary lines, and a single lane is allowed for roads corresponding to each group of road boundary lines, and only one farm work device is allowed to drive in the same time period, so that not only is the utilization rate of the roads improved, but also multiple farm work devices are prevented from being blocked and/or collided.
In an embodiment of the application, the road attribute information may also include speed limit attribute information, and the speed limit attribute information includes highest speed limit attribute information, which is used to limit the highest running speed of the farm work equipment, so as to prevent the farm work equipment from braking untimely and further driving out of a road boundary line to collide with crops and the like.
And step 35, constructing a vector map corresponding to the target farmland area based on the road attribute information, the M groups of road boundary lines and the road center lines corresponding to the M groups of road boundary lines.
In an embodiment of the application, the vector map corresponds to road attribute information, more detailed path planning information is provided for farmland operation equipment, and the applicability of the vector map is improved.
In the practical application process, road configuration road attribute information corresponding to M groups of road boundary lines is determined, wherein the road attribute information comprises occupation attribute information and/or speed limit attribute information, and then a vector map corresponding to a target farmland area is constructed based on the road attribute information, the M groups of road boundary lines and road center lines corresponding to the M groups of road boundary lines.
According to the vector map construction method provided by the embodiment of the application, the road configuration road attribute information corresponding to the M groups of road boundary lines is determined, so that the blockage and/or collision of a plurality of farmland operation devices are avoided, the untimely braking of the farmland operation devices is avoided, and the boundary lines of the roads are driven out to collide with crops and the like; the vector map corresponding to the target farmland area is constructed on the basis of the road attribute information, the M groups of road boundary lines and the road center lines corresponding to the M groups of road boundary lines, so that more detailed path planning information is provided for farmland operation equipment, and the applicability of the vector map is improved.
Fig. 11 is a schematic flowchart of a path planning method according to an exemplary embodiment of the present application. As shown in fig. 11, the path planning method provided in the embodiment of the present application includes the following steps.
And step 40, determining a vector map corresponding to the target farmland area.
Specifically, the vector map is determined based on the vector map construction method mentioned in any of the above embodiments.
And step 50, determining path planning information corresponding to the farmland operation equipment based on the vector map.
In an embodiment of the application, a user may select a position of a target crop based on a vector map, and then a computer-readable storage medium, an electronic device, or a path planning apparatus that may execute the path planning method determines position information of the vector map corresponding to the target crop based on the position of the target crop, and further determines path planning information corresponding to a field operation device according to a predetermined rule. It should be noted that the predetermined rule may be understood as a segmented planning rule. For example, as shown in fig. 7, when the farm work equipment is driven from the current position R to the target crop position S, the driving roads to be occupied (the non-working road corresponding to the current position R, the steering area, and the working road corresponding to the target crop position S) may be determined in a segmented manner, then the road center lines corresponding to the driving roads to be occupied may be determined, and then the path planning information for driving the farm work equipment from the current position R to the target crop position S may be determined based on the road center lines.
In addition, because the vector map is provided with the path planning information, the global path planning information of the target crop position can be determined directly based on the current position of the farmland operation equipment, so that a user does not need to draw a path, and the operation efficiency is improved.
In the practical application process, a vector map corresponding to a target farmland area is determined, and then path planning information corresponding to farmland operation equipment is determined based on the vector map.
According to the path planning method provided by the embodiment of the application, the path planning information corresponding to the farmland operation equipment is determined by determining the vector map corresponding to the target farmland area and then based on the vector map, so that the navigation problem of the farmland operation equipment is solved, a user does not need to draw a path, and the operation efficiency is improved.
Fig. 12 is a schematic structural diagram of a vector map construction apparatus according to an exemplary embodiment of the present application. As shown in fig. 12, the vector map construction apparatus provided in the embodiment of the present application includes:
the first determining module 100 is configured to determine, based on crop position information corresponding to a target farmland area, M groups of road boundary lines corresponding to the target farmland area, where each group of road boundary lines is used to generate a road on which farmland operation equipment travels, and M is a positive integer;
the second determining module 200 is configured to determine, based on the M groups of road boundary lines, road center lines corresponding to the M groups of road boundary lines, respectively;
the building module 300 is configured to build a vector map corresponding to the target farmland area based on the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines.
In an embodiment of the present application, the building module 300 is further configured to determine N turning areas based on a cross relationship between M roads corresponding to M groups of road boundary lines, where N is a positive integer; determining at least one steering center line corresponding to the steering area aiming at each steering area in the N steering areas; and constructing a vector map corresponding to the target farmland area based on the M groups of road boundary lines, the road center lines corresponding to the M groups of road boundary lines and the steering center lines corresponding to the N steering areas.
In an embodiment of the present application, the building module 300 is further configured to determine a first ackermann steering connection point based on an intersection point of a road centerline corresponding to the first group of road boundary lines and a steering area; determining a second Ackerman steering connection point based on the intersection point of the road center line corresponding to the second group of road boundary lines and the steering area; and determining a steering central line corresponding to the steering area based on the first ackermann steering connection point, the second ackermann steering connection point, and the road width corresponding to the first group of road boundary lines or the road width corresponding to the second group of road boundary lines.
In an embodiment of the present application, the building module 300 is further configured to determine a turning radius corresponding to the turning area based on a road width corresponding to the first group of road boundary lines or a road width corresponding to the second group of road boundary lines; and determining a steering central line corresponding to the steering area based on the first ackermann steering connecting point, the second ackermann steering connecting point and the steering radius.
In an embodiment of the present application, the building module 300 is further configured to determine an in-situ steering connection point based on an intersection point of a road centerline corresponding to the first group of road boundary lines and a road centerline corresponding to the second group of road boundary lines; and determining a steering central line corresponding to the steering area based on the pivot steering connecting point.
In an embodiment of the present application, the first determining module 100 is further configured to determine N sets of working road boundary lines based on crop position information; and determining P groups of non-operation road boundary lines based on the boundary information corresponding to the target farmland area and/or preset boundary information.
In an embodiment of the present application, the building module 300 is further configured to determine road configuration road attribute information corresponding to each of the M groups of road boundary lines, where the road attribute information includes occupation attribute information and/or speed limit attribute information; and constructing a vector map corresponding to the target farmland area based on the road attribute information, the M groups of road boundary lines and the road center lines corresponding to the M groups of road boundary lines.
Fig. 13 is a schematic structural diagram of a path planning apparatus according to an exemplary embodiment of the present application. As shown in fig. 13, the path planning apparatus provided in the embodiment of the present application includes:
the map determining module 400 is configured to determine a vector map corresponding to a target farmland area, where the vector map is determined based on the vector map construction method mentioned in any of the embodiments above;
and a path determining module 500, configured to determine path planning information corresponding to the farm work equipment based on the vector map.
In addition, an embodiment of the present application may also be an agricultural operation apparatus including the path planning device mentioned in the above embodiment.
It should be understood that the operations and functions of the first determining module 100, the second determining module 200, and the constructing module 300 in the vector map constructing apparatus provided in fig. 12 may refer to the vector map constructing method provided in fig. 1 to 10, and the operations and functions of the map determining module 400 and the path determining module 500 in the path planning apparatus provided in fig. 13 may refer to the path planning method provided in fig. 11, which are not repeated herein for avoiding repetition.
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 14. Fig. 14 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application.
As shown in fig. 14, the electronic device 60 includes one or more processors 601 and memory 602.
Processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in electronic device 60 to perform desired functions.
Memory 602 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by the processor 601 to implement the methods of the various embodiments of the application described above and/or other desired functions. Various contents such as including crop position information, M groups of road boundary lines, and road center lines to which the M groups of road boundary lines respectively correspond may also be stored in the computer-readable storage medium.
In one example, the electronic device 60 may further include: an input device 603 and an output device 604, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 603 may include, for example, a keyboard, a mouse, and the like.
The output device 604 may output various information to the outside, including crop position information, M-group road boundary lines, and road center lines corresponding to the M-group road boundary lines, and the like. The output devices 604 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, for the sake of simplicity, only some of the components related to the present application in the electronic device 60 are shown in fig. 14, and components such as a bus, an input/output interface, and the like are omitted. In addition, the electronic device 60 may include any other suitable components depending on the particular application.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to the various embodiments of the present application described above in this specification.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to perform the steps in the methods according to the various embodiments of the present application described above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (13)
1. A vector map construction method, comprising:
determining M groups of road boundary lines corresponding to a target farmland area based on crop position information corresponding to the target farmland area, wherein each group of road boundary lines is used for generating roads for farmland operation equipment to run, and M is a positive integer;
determining road center lines corresponding to the M groups of road boundary lines based on the M groups of road boundary lines;
and constructing a vector map corresponding to the target farmland area based on the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines.
2. The vector map construction method according to claim 1, wherein constructing the vector map corresponding to the target farmland area based on the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines comprises:
determining N steering areas based on the cross relationship among M roads corresponding to the M groups of road boundary lines, wherein N is a positive integer;
for each turning region in the N turning regions, determining at least one turning center line corresponding to the turning region;
and constructing a vector map corresponding to the target farmland area based on the M groups of road boundary lines, the road center lines corresponding to the M groups of road boundary lines and the steering center lines corresponding to the N steering areas.
3. The vector map construction method of claim 2, wherein the turn region corresponds to a first set of road boundary lines and a second set of road boundary lines, and the determining at least one turn centerline corresponding to the turn region comprises:
determining a first Ackerman steering connection point based on the intersection point of the road center line corresponding to the first group of road boundary lines and the steering area;
determining a second Ackerman steering connection point based on the intersection point of the road center line corresponding to the second group of road boundary lines and the steering area;
and determining a steering central line corresponding to the steering area based on the first ackermann steering connection point, the second ackermann steering connection point, and the road width corresponding to the first group of road boundary lines or the road width corresponding to the second group of road boundary lines.
4. The vector map construction method of claim 3, wherein determining the steering centerline for the steered region based on the first ackermann steering junction, the second ackermann steering junction, and the road width corresponding to the first set of road boundary lines or the road width corresponding to the second set of road boundary lines comprises:
determining a turning radius corresponding to the turning area based on the road width corresponding to the first group of road boundary lines or the road width corresponding to the second group of road boundary lines;
and determining a steering center line corresponding to the steering area based on the first ackermann steering connection point, the second ackermann steering connection point and the steering radius.
5. The vector map construction method according to any one of claims 2 to 4, wherein the steering area corresponds to a first set of road boundary lines and a second set of road boundary lines, and the determining at least one steering centerline corresponding to the steering area comprises:
determining an in-situ steering connection point based on the intersection point of the road center line corresponding to the first group of road boundary lines and the road center line corresponding to the second group of road boundary lines;
and determining a steering central line corresponding to the steering area based on the pivot steering connecting point.
6. The vector map construction method according to any one of claims 1 to 4, wherein the M groups of road boundary lines include N groups of working road boundary lines and P groups of non-working road boundary lines, and the determining of the M groups of road boundary lines corresponding to the target farmland area based on the crop position information corresponding to the target farmland area comprises:
determining the N groups of operation road boundary lines based on the crop position information;
and determining the P groups of non-operation road boundary lines based on the boundary information and/or preset boundary information corresponding to the target farmland area.
7. The vector map construction method according to any one of claims 1 to 4, wherein constructing the vector map corresponding to the target farmland area based on the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines comprises:
determining road configuration road attribute information corresponding to the M groups of road boundary lines, wherein the road attribute information comprises occupation attribute information and/or speed limit attribute information;
and constructing a vector map corresponding to the target farmland area based on the road attribute information, the M groups of road boundary lines and the road center lines corresponding to the M groups of road boundary lines.
8. A method of path planning, comprising:
determining a vector map corresponding to a target farmland area, wherein the vector map is determined based on the vector map construction method of any one of the claims 1 to 7;
and determining path planning information corresponding to the farmland operation equipment based on the vector map.
9. A vector map construction apparatus, characterized by comprising:
the system comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining M groups of road boundary lines corresponding to a target farmland area based on crop position information corresponding to the target farmland area, each group of road boundary lines is used for generating roads for farmland operation equipment to run, and M is a positive integer;
the second determining module is used for determining road center lines corresponding to the M groups of road boundary lines based on the M groups of road boundary lines;
and the construction module is used for constructing the vector map corresponding to the target farmland area based on the road center lines corresponding to the M groups of road boundary lines and the M groups of road boundary lines.
10. A path planning apparatus, comprising:
a map determining module, configured to determine a vector map corresponding to a target farmland area, where the vector map is determined based on the vector map construction method according to any one of claims 1 to 7;
and the path determining module is used for determining path planning information corresponding to the farmland operation equipment based on the vector map.
11. An agricultural operation apparatus, comprising the path planning device according to claim 10.
12. A computer-readable storage medium, characterized in that the storage medium stores a computer program for performing the method of any of the preceding claims 1 to 8.
13. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor configured to perform the method of any of the preceding claims 1 to 8.
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